TY - GEN
T1 - Design study of three segment leg with stable region at low and high speed running
AU - Kwon, Oh Seok
AU - Lee, Dong Ha
PY - 2011
Y1 - 2011
N2 - In previous researches [2, 3], the self-stability was studied for the spring-mass model and the two segment leg model. In these researches, it was presented that the spring-mass model has the self-stable region at relatively high speed running and the two segment leg model has the self-stable region at relatively low speed running. If the model was run in the self-stable region, the cost of transport [1] is zero ideally. That is, actually, only the energy loss is needed to compensate for running. This means that the energy efficiency is high, running in the self-stable region. We want to have high energy efficiency at low and high speed running. So, in this paper, we propose the design direction of the three segment leg having the self-stable region at low and high speed running. And we verify the self-stable region of the three segment leg designed by the proposed design direction.
AB - In previous researches [2, 3], the self-stability was studied for the spring-mass model and the two segment leg model. In these researches, it was presented that the spring-mass model has the self-stable region at relatively high speed running and the two segment leg model has the self-stable region at relatively low speed running. If the model was run in the self-stable region, the cost of transport [1] is zero ideally. That is, actually, only the energy loss is needed to compensate for running. This means that the energy efficiency is high, running in the self-stable region. We want to have high energy efficiency at low and high speed running. So, in this paper, we propose the design direction of the three segment leg having the self-stable region at low and high speed running. And we verify the self-stable region of the three segment leg designed by the proposed design direction.
KW - leg stiffness
KW - running robot
KW - segment leg
KW - self-stability
UR - https://www.scopus.com/pages/publications/84863156115
U2 - 10.1109/URAI.2011.6146041
DO - 10.1109/URAI.2011.6146041
M3 - Conference contribution
AN - SCOPUS:84863156115
SN - 9781457707223
T3 - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
SP - 850
EP - 854
BT - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
T2 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
Y2 - 23 November 2011 through 26 November 2011
ER -
